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TMS320F28377D: How do I am firmware ugrade via CAN or SCI?

Part Number: TMS320F28377D
Other Parts Discussed in Thread: C2000WARE

I want to firmware upgrade without emulator.

Also, I dont want to change GPIO.

Q1. How do I'am firmware upgrade via CAN or SCI(don't change GPIO and boot mode).

Q2. Please recommend me the relevant documents(firmware upgare).

Q3. Does TI support application program CAN or RS232/422 HEX file tranceiver program?